EP3905515A1 - Dispositif de transport, système d'analyse d'échantillon et dispositif de prétraitement d'échantillon le comprenant, et procédé de transport d'échantillon à transporter - Google Patents

Dispositif de transport, système d'analyse d'échantillon et dispositif de prétraitement d'échantillon le comprenant, et procédé de transport d'échantillon à transporter Download PDF

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Publication number
EP3905515A1
EP3905515A1 EP20770493.3A EP20770493A EP3905515A1 EP 3905515 A1 EP3905515 A1 EP 3905515A1 EP 20770493 A EP20770493 A EP 20770493A EP 3905515 A1 EP3905515 A1 EP 3905515A1
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EP
European Patent Office
Prior art keywords
conveying
sample
current
conveyance object
winding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20770493.3A
Other languages
German (de)
English (en)
Other versions
EP3905515A4 (fr
EP3905515B1 (fr
Inventor
Yasuaki Aoyama
Ryosuke HOSHI
Hiroyuki Kobayashi
Satoru Kaneko
Takeshi Tamakoshi
Hiroshi Watanabe
Katsuhiro Kambara
Kuniaki Onizawa
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Hitachi High Tech Corp
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Hitachi High Tech Corp
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Filing date
Publication date
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Publication of EP3905515A1 publication Critical patent/EP3905515A1/fr
Publication of EP3905515A4 publication Critical patent/EP3905515A4/fr
Application granted granted Critical
Publication of EP3905515B1 publication Critical patent/EP3905515B1/fr
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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H02P25/064—Linear motors of the synchronous type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0258—Weight of the article
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0406—Individual bottles or tubes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0474—Details of actuating means for conveyors or pipettes
    • G01N2035/0477—Magnetic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/026—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having blocks or racks of reaction cells or cuvettes

Definitions

  • the present invention relates to a conveying device suitable for a sample analysis system that performs analysis of a biological sample such as, for example, blood, urine, or the like (hereinafter referred to as a sample) and a sample pretreatment device that performs pretreatment necessary for the analysis thereof, the sample analysis system and the sample pretreatment device including the conveying device, and a method for conveying a conveyance object.
  • a sample analysis system that performs analysis of a biological sample such as, for example, blood, urine, or the like
  • a sample pretreatment device that performs pretreatment necessary for the analysis thereof
  • the sample analysis system and the sample pretreatment device including the conveying device, and a method for conveying a conveyance object.
  • JP-A-2017-77971 discloses that the example thereof includes: a plurality of container carriers respectively including at least one magnetically active device, desirably at least one permanent magnet and adapted to convey a sample container; a conveying surface adapted to convey the container carrier; and a plurality of electromagnetic actuators that are stationary and disposed below the conveying surface and that are adapted to move the container carrier on the conveying surface by applying a magnetic force to the container carrier.
  • JP-A-2017-227648 discloses that the example thereof includes: a plurality of container carriers each of which including at least one magnetically active device, desirably at least one permanent magnet and being adapted to carry a sample container including a sample; a conveying surface adapted to convey the plurality of container carriers; a plurality of electromagnetic actuators that are stationary and disposed below the conveying surface and that are adapted to move the container carrier on the conveying surface by applying a magnetic force to the container carrier; and at least one conveying device disposed to convey the sample between the conveying surface and laboratory stations, desirably a pre-analysis station, an analysis station, and/or a post-analysis station.
  • a sample analysis system for a clinical test performs a test of an instructed analysis item with respect to samples such as blood, plasma, serum, urine, other body fluids, or the like.
  • devices having a plurality of functions can be connected to each other and each process can be automatically processed. That is, in order to streamline laboratory work, an analysis unit of a plurality of analytical fields such as biochemistry, immunity, or the like and a pretreatment unit that performs pretreatment necessary for analysis are connected to a conveying line, thereby being operated as one system.
  • the conveying line used in the sample analysis system of related art is mainly a belt drive system.
  • the belt drive system there is a problem that when conveyance is stopped due to some abnormality during the conveyance, the sample cannot be supplied to a device on a downstream side. Therefore, it is required to pay close attention to wear of a belt.
  • JP-A-2017-77971 and JP-A-2017-227648 (PTLs 1 and 2).
  • a container carrier detection device for detecting a position of a magnetically active device provided on a sample conveying carrier is provided.
  • JP-A-2017-77971 and JP-A-2017-227648 (PTLs 1 and 2) only describe switching the electromagnetic actuator to be activated according to a position of the container carrier.
  • a weight of the container carrier is different depending on a type of the sample and presence or absence thereof, or a conveying speed of the container carrier decreases when an increase in friction and a decrease in thrust occur due to deterioration in a conveying surface and a decrease in magnetic force, or the speed varies depending on a state of the container carrier, such that there are problems that the conveying speed of the container carrier varies and a conveying performance deteriorates.
  • the present invention provides a conveying device having a conveying performance higher than that of related art, a sample analysis system and a sample pretreatment device including the conveying device, and a method for conveying a conveyance object.
  • the present invention include a plurality of units for solving the above-described problems, and an example thereof includes: a first magnetic body which is provided on a side of a conveyance object; a magnetic circuit which includes a core made of a second magnetic body and a winding wound on an outer periphery of the core; a drive circuit which supplies a current to the winding of the magnetic circuit; and a calculation unit which controls a value of the current to be supplied from the drive circuit to the winding, in which the calculation unit makes the current to be supplied to the winding vary.
  • a first embodiment of a conveying device and a method for conveying a conveyance object of the present invention will be described with reference to Figs. 1 to 6 .
  • Fig. 1 is a diagram schematically showing an outline of the conveying device of the embodiment in which three magnetic poles 25 and a permanent magnet 10 operate relative to each other.
  • a conveying device 1 includes the permanent magnet 10, the magnetic pole 25 including a columnar core 22 and a winding 21 wound around an outer periphery of the core 22, a drive circuit 50, a current command calculation unit 55, a position and speed detection unit 60, and a weight detection unit 65.
  • the permanent magnet 10 is provided on a side of a conveyance object and is desirably formed of a permanent magnet such as neodymium, ferrite, or the like.
  • the permanent magnet 10 can also be formed of another magnet and a soft magnetic body.
  • the permanent magnet 10 and the soft magnetic body may be combined, or the permanent magnet 10 may be formed of a magnetic body instead of the permanent magnet.
  • the permanent magnet 10 there are a sample holder (not shown) and a sample rack (refer to Fig. 23 ) for storing a plurality of samples .
  • a sample holder and the sample rack In the sample holder and the sample rack, one sample container for storing the sample is normally mounted on the sample holder, and is conveyed up to a desired position as the permanent magnet 10 moves. That is, the sample container, the sample holder for holding the sample container, the sample rack, and the permanent magnet 10 are configured to be integrated, and by conveying the permanent magnet 10, the sample container is conveyed up to the desired position.
  • a conveying surface (not shown) for supporting the permanent magnet 10 is provided between the magnetic pole 25 and the permanent magnet 10, and the permanent magnet 10 slides and moves on the conveying surface.
  • the conveying device 1 includes at least two or more magnetic poles 25.
  • Each of the magnetic poles 25 includes the core 22 formed of the magnetic body and the winding 21 wound around the outer periphery of the core 22.
  • the columnar core 22 of the magnetic poles 25 is disposed so as to face the permanent magnet 10.
  • the permanent magnet 10 integrated with the conveyance object moves on the magnetic pole 25.
  • an electromagnetic force acts on the permanent magnet 10 by allowing a current to flow through the winding 21, such that the permanent magnet 10 moves between the magnetic poles 25.
  • the position and speed detection unit 60 detects a position and speed of the permanent magnet 10.
  • the position and speed detection unit 60 can have various configurations to obtain information for calculating the position and speed of the permanent magnet 10. For example, magnetism detection by a Hall element, a physical position sensor, or position recognition using an image, or the like can be used.
  • the Hall element can be used to detect magnetism of the permanent magnet 10, to calculate the speed of the permanent magnet 10 from the time required for movement of the permanent magnet 10 between the cores 22 formed of the second magnetic body, and to control the current.
  • the position and speed detection unit 60 can obtain the position of the permanent magnet 10 by detecting the current flowing through the winding 21 and a flow type thereof. This principle is described as follows.
  • the core 22 is formed of the magnetic body, and a magnetic flux flowing through the core 22 has a property that the magnetic flux becomes difficult to flow therethrough as the magnetic flux increases.
  • a voltage is applied to the winding 21 to allow the current to flow therethrough, a magnetic flux generated by the current is generated in the core 22. Therefore, the magnetic flux generated by the permanent magnet 10 and the magnetic flux generated by the current flowing through the winding 21 are generated in the core 22.
  • inductance when the current flows through the winding 21, a magnetic field is generated around the winding 21, and the generated magnetic flux is proportional to a value of the current flowing therethrough.
  • This proportionality constant is referred to as inductance.
  • the inductance varies depending on a saturation characteristic of the core 22.
  • the inductance varies depending on a magnitude of the magnetic flux generated in the core 22. That is, the inductance of the winding 21 varies depending on the magnitude of the magnetic flux of the permanent magnet 10. This indicates that the inductance of the winding 21 varies depending on the position of the permanent magnet 10.
  • a voltage V generated in the winding 21 is represented by a relationship described below.
  • V ⁇ d ⁇ /dt
  • ⁇ is the magnetic flux and t is time.
  • the voltage V is represented by an amount of change in magnetic flux per unit time.
  • the inductance L can be calculated by detecting the current flowing through the winding 21 and the flow type thereof. That is, when the inductance L of the winding 21 that varies depending on the position of the permanent magnet 10 is detected, the position of the permanent magnet 10 that affects the inductance L thereof can be obtained.
  • the weight detection unit 65 that measures a weight of the conveyance object can be used to determine a value of a current to be applied from the weight of the conveyance object.
  • the weight detection unit 65 can also estimate a deterioration state of a conveying surface side of the conveyance object, wear of the conveying surface, or the like based on weight information, a position of the conveyance object, and a speed thereof.
  • the weight detection unit 65 can be a scale that actually detects the weight of the conveyance object, a processing unit that obtains the weight by image-processing a captured image of the conveyance object, and a processing unit for obtaining an acceleration and a weight by using the position and speed information detected by the position and speed detection unit 60 described above, a magnetic flux strength, or the like.
  • the current command calculation unit 55 calculates the current flowing through each winding 21 by using the position information and the speed information of the permanent magnet 10 detected by the position and speed detection unit 60 and the weight information detected by the weight detection unit 65, and outputs a command signal to the drive circuit 50 connected to each winding 21.
  • the drive circuit 50 supplies the current to the corresponding winding 21 based on the command signal.
  • the current command calculation unit 55 can be implemented by allowing a computer and a field-programmable gate array (FPGA) including a CPU, a memory, an interface, or the like to read a program and to execute a calculation.
  • the program is stored in an internal recording medium and an external recording medium (not shown) in each configuration, and is read and executed by the CPU.
  • Operation control processing may be combined in one program, may be divided into a plurality of programs, or may be a combination thereof. A part or all of the programs may be implemented by dedicated hardware or may be modularized. Various programs may be installed in each device from a program distribution server, the internal recording medium, and the external recording medium.
  • Each device is not required to be independent, and two or more devices may be integrated and shared to perform only the processing. At least a part of the configuration can be connected via a wired or wireless network.
  • Fig. 2 is a schematic view of the conveying device 1 in which a total of 100 magnetic poles 25, which include 10 magnetic poles 25 in an X direction and 10 magnetic poles 25 in a Y direction, are disposed.
  • the permanent magnet 10 can be conveyed in any direction.
  • Fig. 3 shows a schematic view cut along a conveying direction from a magnetic pole 25a to a magnetic pole 25d in four magnetic poles 25a to 25d when the permanent magnet 10 is conveyed in the X direction.
  • Fig. 4 shows a thrust (a force in the X direction) acting on the permanent magnet 10 when a direct current is applied to a winding 21c and the permanent magnet 10 moves from a section A to a section A' in the X direction.
  • the thrust when the winding 21c in a direction of moving the permanent magnet 10 is excited with a constant current value varies depending on the position of the permanent magnet 10. That is, when the permanent magnet 10 moves from the section A to the section A', and a constant current flows through the winding in a traveling direction, the thrust fluctuates depending on the position thereof, an acceleration acting on the permanent magnet 10 varies, and a speed fluctuates.
  • the speed of the conveyance object may vary, and a sample and a reagent may spill due to a fluctuation in speed. Due to the fluctuation in speed, a speed variation may occur between the plurality of conveyance objects, such that a conveying interval may not be narrowed.
  • Fig. 5 shows a relationship between a current applied to the winding 21 at positions a, b, and c in Fig. 4 and a thrust. As shown in Fig. 5 , even when the current flows through the same winding 21, the relationship between the current and the thrust are different from each other depending on the position of the permanent magnet 10.
  • Fig. 6 shows an example of a value of a current for keeping the thrust constant at each position of the permanent magnet 10.
  • a fluctuation in thrust acting on the conveyance object can be prevented, and vibration of the conveyance object and the speed variation thereof can be reduced.
  • the thrust can be adjusted by varying the current stepwise.
  • the weight of the conveyance object may vary depending on a type of a rack, a holder, or the like forming the conveyance object, a content and an amount of the sample container, or the like.
  • a conveying speed of the conveyance object varies depending on a difference in weight. That is, when the conveyance objects having different weights exist on the same line, it is required to adjust the conveying speed to the conveyance object whose conveying speed is slow, such that there is room for further improvement in a conveying performance.
  • the difference in speed can be eliminated by varying the current value depending on the weight or by controlling the current so that the speed becomes constant from the detected position and speed of the conveyance object.
  • the conveying speed may decrease.
  • a degree of deterioration or the like is determined from the position and speed of the conveyance object, and a decrease in the conveying speed can be prevented more reliably by controlling the current value, thereby making it possible to maintain the conveying performance at a high level.
  • the conveying device 1 of the first embodiment of the present invention described above includes: the permanent magnet 10 provided on a side of the sample rack 111; the magnetic pole 25 including the core 22 formed of the second magnetic body and the winding 21 wound around the outer periphery of the core 22; the drive circuit 50 that supplies a current to the winding 21 of the magnetic pole 25; and the current command calculation unit 55 that controls a value of a current to be supplied from the drive circuit 50 to the winding 21, in which the current command calculation unit 55 varies the current to be supplied to the winding 21.
  • the embodiment can provide the conveying device and the method for conveying the conveyance object in which the variation in speed of the conveyance object can be prevented as compared with the related art, and the conveying performance can be maintained at a high level.
  • the conveying device 1 further includes the position and speed detection unit 60 that detects the position of the permanent magnet 10 or the speed thereof. Since the current command calculation unit 55 varies the current to be supplied to the winding 21 based on the information on the position or speed of the permanent magnet 10, which is detected by the position and speed detection unit 60, it is possible to reliably prevent the occurrence of the variation in conveying performance depending on the position and speed of the conveyance object as compared with the related art, such that the conveying performance can be maintained more reliably at a high level.
  • the conveying device 1 further includes the weight detection unit 65 that detects the weight of the sample rack 111.
  • the current command calculation unit 55 varies the current to be supplied to the winding 21 based on the weight information of the sample rack 111 detected by the weight detection unit 65, such that it is possible to reliably prevent occurrence of the variation in conveying performance caused by the difference in weight of the conveyance object as compared with the related art, and thus the conveying performance can be maintained more reliably at a high level.
  • a conveying device and a method for conveying a conveyance object according to a second embodiment of the present invention will be described with reference to Figs. 7 to 13 .
  • the same configuration as that of the first embodiment will be denoted by the same reference sign, and the description thereof will be omitted. The same also applies to the following embodiments.
  • Fig. 7 is a diagram schematically showing an outline of the conveying device of the embodiment.
  • Fig. 7 shows a conveying device 1A in which two permanent magnets 10a and 10b, and four magnetic poles 25a, 25b, 25c, and 25d operate relative to each other.
  • magnetization directions 90 of the permanent magnets 10a and 10b are the same.
  • a pitch between the respective magnetic poles 25 is set to Pc
  • a gap between the permanent magnet 10a and the permanent magnet 10b is set to Pm.
  • Pc Pm.
  • the permanent magnet 10a integrated with the conveyance object moves from a section A to a section A' in the X direction
  • the permanent magnet 10b moves from the section A' to a section A" in the X direction by allowing a current of 1 [A] to flow through a winding 21b and a current of -1 [A] to flow through a winding 21c without changing a value of the current.
  • a direction of a magnetic flux 80b generated by the winding 21b is an upper direction in Fig. 7
  • a direction of a magnetic flux 80c generated by the winding 21c is a lower direction in Fig. 7 .
  • Thrusts acting on the permanent magnets 10a and 10b at this time are shown in Fig. 8 .
  • superposition of the magnetic flux 80b and the magnetic flux 80c generates a positive thrust with respect to the permanent magnet 10a.
  • a negative thrust (a force in the -X direction) is generated in the permanent magnet 10b. That is, it becomes difficult to convey the permanent magnets 10a and 10b side by side in the same direction.
  • Fig. 9 shows an example in which a current of 1.5 [A] flows through the winding 21b, a current of 0.3 [A] flows through the winding 21c, and a current of -0.9 [A] flows through the winding 21d.
  • the permanent magnet 10a integrated with the conveyance object moves from the section A to the section A' in the X direction
  • the permanent magnet 10b moves from the section A' to the section A" in the X direction without changing the value of the current to be supplied to each of the windings 21b, 21c, and 21d.
  • Thrusts acting on the permanent magnets 10a and 10b at this time are shown in Fig. 10 .
  • both the thrust acting on the permanent magnet 10a and the thrust acting on the permanent magnet which are generated by superposition of the magnetic fluxes 80b, 80c, and 80d, can be in the same direction.
  • Fig. 9 shows a case in which the gradient of the current value linearly varies depending on the position of the magnetic pole 25, it is desirable that the gradient of the current value does not vary in positive and negative of the slope of the windings 21 that are continuously provided and adjacent to each other, and the gradient of the current value increases or decreases in the traveling direction of the sample rack 111. That is, it is desirable to perform control to cause all the current values to be different so that gradients of magnitudes of the magnetic fluxes contributing to the thrusts between two or more adjacent magnetic poles 25 have the same sign.
  • the embodiment describes a case in which two permanent magnets are provided, and even though the number of permanent magnets is greater than two or more, in the magnetic poles generating thrusts therein, it is desirable that the gradients of the magnetic fluxes contributing to the thrusts generated by the currents flowing through the windings have the same sign.
  • Fig. 11 is an example of a flow type of a current in each winding when polarities of the permanent magnets 10a and 10b are reversed with respect to Fig. 9 .
  • a current value of a winding far from each permanent magnet increases, a current value of a winding closer to each permanent magnet decreases, and the current is controlled so that the gradient of the change in magnetic flux contributing to the thrust at each position of the permanent magnet is one polarity (positive or negative).
  • Fig. 12 shows an example in which a current of 1.0 [A] flows through the winding 21a, the current of 1.0 [A] flows through the winding 21b, a current of -1.0 [A] flows through the winding 21c, and the current of -1.0 [A] flows through the winding 21d.
  • Fig. 13 shows thrusts acting on the permanent magnets 10a and 10b when the permanent magnet 10a integrated with the conveyance object moves from the section A to the section A' in the X direction, and the permanent magnet 10b moves from the section A' to the section A" in the X direction without changing the current value of each winding.
  • the permanent magnet 10a between the section A and the section A' is conveyed by positive thrusts generated by a magnetic flux 80a formed by the winding 21a reinforced by a core 22a, the magnetic flux 80b formed by the winding 21b reinforced by a core 22b, and the magnetic flux 80c formed by the winding 21c reinforced by a core 22c.
  • the gradients of the magnetic fluxes are symmetrical on the left and right, such that the thrust acting on the permanent magnet 10b in the section from the section A' to the section A" reverses a direction of the thrust with a center of the section almost from the section A' to the section A" as a boundary.
  • the current value flowing through the winding is controlled in the section where the permanent magnet is desired to be conveyed.
  • the direction of the thrust and the magnitude of the thrust can be controlled by controlling the gradient of the magnetic flux contributing to the thrust.
  • the conveying device and the method for conveying the conveyance object according to the second embodiment of the present invention can also obtain almost the same effect as that of the conveying device and the method for conveying the conveyance object according to the first embodiment described above.
  • the current command calculation unit 55 causes the values of the currents to be supplied to the windings 21 adjacent to each other along the traveling direction of the sample rack 111 to be different from each other, such that even when the conveyance objects are continuously provided, the conveyance objects can be efficiently conveyed in the same direction, and a high conveying performance can be maintained.
  • the current command calculation unit 55 causes the values of the currents to be supplied to the windings 21 adjacent to each other along the traveling direction of the sample rack 111 to be different from each other in positive and negative values, or the current command calculation unit 55 reverses the directions of the magnetic fluxes generated by the windings 21 adjacent to each other along the traveling direction of the sample rack 111, thereby making it possible to efficiently convey the conveyance objects in the same direction even when the conveyance objects are continuously provided, without increasing the supplied current value more than necessary.
  • the current command calculation unit 55 causes all the values of the currents of N or more continuous windings 21 to be different from each other, such that even when the conveyance objects are continuously provided, the conveyance objects can be efficiently conveyed in the same direction and at almost the same speed, and thus the high conveying performance can be maintained.
  • the current command calculation unit 55 causes the values of the currents of N or more continuous windings 21 to increase or decrease in the traveling direction of the sample rack 111, such that even when the conveyance objects are continuously provided, the conveyance objects can be efficiently conveyed in the same direction, and thus the high conveying performance can be maintained.
  • a conveying device and a method for conveying a conveyance object according to a third embodiment of the present invention will be described with reference to Figs. 14 and 15 .
  • Fig. 14 is a diagram schematically showing an outline of a conveying device 1B of the embodiment.
  • the conveying device 1B shown in Fig. 14 shows an example in which a current of 1.0 [A] flows through the winding 21a, a current of -1.0 [A] flows through the winding 21b, the current of 1.0 [A] flows through the winding 21c, and the current of -1.0 [A] flows through the winding 21d.
  • the magnetization directions 90 of the permanent magnets 10a and 10b are the same.
  • both the permanent magnet 10a and the permanent magnet 10b can have the magnetic fluxes, which are generated by the magnetic poles 25a and 25c respectively provided directly below the permanent magnet 10a and the permanent magnet directed in the same direction, and can also have the magnetic fluxes, which are generated by the magnetic poles 25b and 25d closest to each other in the traveling direction, directed in the same direction. This also applies when a condition of 2Pc ⁇ Pm is also satisfied.
  • the conveyance when conveyance is performed so as to satisfy a condition of 2Pc ⁇ Pm, the conveyance can be efficiently performed by causing the magnetic fluxes contributing to the thrusts acting on the permanent magnet 10a and the permanent magnet 10b to be directed in the same direction, without controlling the gradient of the current to form one polarity (positive or negative).
  • the gradients of the values of the currents to be supplied to all the windings 21 are desirably controlled to form the same polarity.
  • the gradients of the values of the current to be supplied to the windings 21 are desirably controlled not to form one polarity (positive or negative), but to be reversed at a certain part.
  • the permanent magnet 10a and the permanent magnet 10b can be simultaneously conveyed in the same direction.
  • the currents flowing through the windings 21 of the magnetic poles 25 adjacent to each other are changed, thereby making it possible to efficiently move the conveyance object.
  • Fig. 15 shows a thrust acting on the permanent magnet 10a from a starting position A 0 to the section A when no current flows through each of the windings 21a, 21b, 21c, and 21d in Fig. 14 .
  • the permanent magnet 10a is attracted to the core 22a formed of the magnetic body. Therefore, a negative thrust is generated from the starting position A 0 to a 1/2 Pc section. That is, it is required to generate a positive thrust that overcomes the negative thrust in this region.
  • the current value in the 1/2 Pc section is caused to be larger than the current value after 1 /2 Pc, thereby making it possible to implement the smooth operation.
  • the conveying device and the method for conveying the conveyance object according to the third embodiment of the present invention can also obtain almost the same effect as that of the conveying device and the method for conveying the conveyance object according to the first embodiment described above.
  • the current value in the 1/2 Pc section is larger than the current value after 1/2 Pc, thereby making it possible to smoothly convey the conveyance object, and to further improve the conveying performance.
  • a conveying device and a method for conveying a conveyance object according to a fourth embodiment of the present invention will be described with reference to Figs. 16 and 17 .
  • Fig. 16 is a diagram schematically showing an outline of a conveying device 1C of the embodiment.
  • a current of 1.0 [A] flows through the winding 21b and a current of -1.0 [A] flows through the winding 21c.
  • the magnetization direction 90 of the permanent magnet 10a and a magnetization direction 91 of the permanent magnet 10b are opposite to each other.
  • Fig. 17 shows a thrust when current values different in positive and negative flow through the windings 21b and 21c adjacent to each other and the magnetization directions of the permanent magnet 10a and the permanent magnet 10b are reversed in the conveying device 1C.
  • Fig. 17 shows a case in which the permanent magnet 10a integrated with the conveyance object moves from the section A to the section A' in the X direction, and the permanent magnet 10b moves from the section A' to the section A" in the X direction, without changing the current value of each winding.
  • the conveying device and the method for conveying the conveyance object according to the fourth embodiment of the present invention can also obtain almost the same effect as that of the conveying device and the method for conveying the conveyance object according to the first embodiment described above.
  • a conveying device and a method for conveying a conveyance object according to a fifth embodiment of the present invention will be described with reference to Figs. 18 and 19 .
  • Fig. 18 is a diagram schematically showing an outline of a conveying device 1D of the embodiment.
  • Fig. 18 shows an example in which a current of 1.0 [A] flows through the winding 21b and a current of -1.0 [A] flows through the winding 21c.
  • Fig. 19 shows a thrust (a) when the current of 1.0 [A] flows through the winding 21b, a thrust (b) when the current of -1.0 [A] flows through the winding 21c, a thrust (c) when the current of 1.0 [A] flows through the winding 21b and the current of -1.0 [A] flows through the winding 21c, and a thrust (d) when no current flows through any of the windings.
  • the thrusts shown in Fig. 19 are thrusts acting on the permanent magnet 10a in the section from the section A to the section A'.
  • the thrust (a) when the current of 1.0 [A] flows through the winding 21b becomes large in the first half of the position (a side closer to the section A).
  • the thrust (b) when the current of 1.0 [A] flows through the winding 21c becomes large in the second half of the position (a side closer to the section A').
  • the thrust (c) when the current of 1.0 [A] flows through the winding 21b and the current of -1.0 [A] flows through the winding 21c becomes approximately a target thrust waveform in the first half of the position (the side closer to the section A) and the second half of the position (the side closer to the section A'), thereby making it possible to stably generate the thrust in the section from the section A to the section A'.
  • the currents having different values flow through the windings adjacent to each other, thereby making it possible not only to increase the thrust but also to reduce the fluctuation in thrust.
  • the conveying device and the method for conveying the conveyance object according to the fifth embodiment of the present invention can also obtain almost the same effect as that of the conveying device and the method for conveying the conveyance object according to the first embodiment described above.
  • a conveying device and a method for conveying a conveyance object according to a sixth embodiment of the present invention will be described with reference to Figs. 20 to 22 .
  • Fig. 20 is a diagram schematically showing an outline of a conveying device 1E of the embodiment.
  • a current of 1.0 [A] flows through the winding 21b
  • a current of -1.0 [A] flows through the winding 21c
  • the current of 1.0 [A] flows through the winding 21d.
  • the magnetization direction 90 of the permanent magnet 10a and the magnetization direction 91 of the permanent magnet 10b are opposite to each other.
  • Thrusts acting on the permanent magnets 10a and 10b under the conditions of Fig. 20 are shown in Fig. 21 .
  • the permanent magnet 10a integrated with the conveyance object moves from the section A to the section A' in the X direction without changing the current value of each winding.
  • the permanent magnet 10b moves from the section A' to the section A" in the X direction.
  • the thrusts acting on the respective permanent magnets at this time are generated in almost the same direction, such that the conveyance object can be efficiently moved.
  • the thrusts acting on the permanent magnet 10a and the permanent magnet 10b are almost the same, such that the permanent magnet 10a and the permanent magnet 10b can move in the same direction at the same speed.
  • Fig. 22 shows a thrust in which a current of 0 [A] (no current) flows through the winding 21b, a current of -1.0 [A] flows through the winding 21c, and a current of 1.0 [A] flows through the winding 21d.
  • the conveying device and the method for conveying the conveyance object according to the sixth embodiment of the present invention can also obtain almost the same effect as that of the conveying device and the method for conveying the conveyance object according to the first embodiment described above.
  • a sample analysis system and a sample pretreatment device to which the conveying device and the method for conveying the conveyance object are desirably applied according to a seventh embodiment of the present invention will be described with reference to Figs. 23 and 24 .
  • First, an overall configuration of a sample analysis system 100 will be described with reference to Fig. 23 .
  • Fig. 24 is a diagram schematically showing the overall configuration of the sample analysis system 100.
  • the sample analysis system 100 is a device that respectively dispenses a sample and a reagent into a reaction container, reacts the dispensed sample and reagent, and measures the reacted liquid, and includes a conveying unit 101, an emergency rack input port 113, a conveying line 102, a buffer 104, an analysis unit 105, a storage unit 103, a display unit 118, a control unit 120, or the like.
  • the conveying unit 101 is a place where the sample rack 111, in which a plurality of sample containers 122 for storing biological samples such as blood, urine, or the like are stored, is installed.
  • the emergency rack input port 113 is a place for inputting a sample rack (calibration rack) on which a standard liquid is loaded and the sample rack 111, in which the sample container 122 for storing the sample required for urgent analysis is stored, into the device.
  • the buffer 104 stores a plurality of sample racks 111 conveyed by the conveying line 102 so that dispensing order of the samples in the sample rack 111 can be changed.
  • the analysis unit 105 analyzes the sample conveyed from the buffer 104 via a conveyor line 106. Details thereof will be described later.
  • the storage unit 103 stores the sample rack 111 in which the sample container 122 for storing the sample whose analysis is completed by the analysis unit 105 is stored.
  • the conveying line 102 is a line for conveying the sample rack 111 installed in the conveying unit 101, and has the same configuration as that of any one of the conveying devices described in the first to sixth embodiments .
  • the magnetic body desirably the permanent magnet, is provided on a back surface side of the sample rack 111.
  • the analysis unit 105 includes the conveyor line 106, a reaction disk 108, a sample dispensing nozzle 107, a reagent disk 110, a reagent dispensing nozzle 109, a cleaning mechanism 112, a reagent tray 114, a reagent ID reader 115, a reagent loader 116, and a spectrophotometer 121.
  • the conveyor line 106 is a line for carrying the sample rack 111 in the buffer 104 into the analysis unit 105, and has the same configuration as that of the conveying device described in the first and sixth embodiments.
  • the reaction disk 108 includes a plurality of reaction containers.
  • the sample dispensing nozzle 107 dispenses the sample from the sample container 122 to the reaction container of the reaction disk 108 by rotational drive or vertical drive.
  • a plurality of reagents are provided on the reagent disk 110.
  • the reagent dispensing nozzle 109 dispenses the reagent from a reagent bottle in the reagent disk 110 into the reaction container of the reaction disk 108.
  • the cleaning mechanism 112 cleans the reaction container of the reaction disk 108.
  • the spectrophotometer 121 measures absorbance of a reaction liquid by measuring transmitted light obtained from a light source (not shown) through the reaction liquid of the reaction container.
  • the reagent tray 114 is a member for installing the reagent when the reagent is registered in the sample analysis system 100.
  • the reagent ID reader 115 is a device for acquiring reagent information by reading a reagent ID attached to the reagent installed in the reagent tray 114.
  • the reagent loader 116 is a device that carries the reagent into the reagent disk 110.
  • the display unit 118 is a display device for displaying an analysis result of concentration of a predetermined component in a liquid sample such as blood, urine, or the like.
  • the control unit 120 is formed of a computer or the like, controls an operation of each mechanism in the sample analysis system 100, and performs calculation processing for obtaining the concentration of the predetermined component in the sample such as blood, urine, or the like.
  • Sample analysis processing by the sample analysis system 100 as described above is generally performed in the following order.
  • the sample rack 111 is installed in the conveying unit 101 or the emergency rack input port 113, and is carried into the buffer 104 that can be randomly accessed by the conveying line 102.
  • the sample analysis system 100 carries the sample rack 111 having the highest priority order among the racks stored in the buffer 104 into the analysis unit 105 by the conveyor line 106 according to a rule of the priority order.
  • the sample rack 111 arriving at the analysis unit 105 is further conveyed by the conveyor line 106 up to a sample fractionation position near the reaction disk 108.
  • the sample is fractionated in the reaction container of the reaction disk 108 by the sample dispensing nozzle 107.
  • the sample dispensing nozzle 107 performs the fractionation of the sample as many times as necessary according to an analysis item requested for the sample.
  • the sample dispensing nozzle 107 performs the fractionation of the sample with respect to all the sample containers 122 mounted on the sample rack 111.
  • the sample rack 111 whose fractionation processing with respect to all the sample containers 122 is completed is conveyed to the buffer 104 again.
  • the sample rack 111 whose all sample fractionation processing including automatic re-examination is completed is conveyed to the storage unit 103 by the conveyor line 106 and the conveying line 102.
  • the reagent to be used for the analysis is fractionated from the reagent bottle on the reagent disk 110 with respect to the reaction container in which the sample is previously fractionated by the reagent dispensing nozzle 109.
  • a stirring mechanism (not shown) is used to stir a mixed liquid of the sample and the reagent in the reaction container.
  • the light generated from the light source is transmitted through the reaction container containing the mixed liquid after stirring, and luminosity of the transmitted light is measured by the spectrophotometer 121.
  • the luminosity measured by the spectrophotometer 121 is transmitted to the control unit 120 via an A/D converter and an interface.
  • the control unit 120 performs the calculation to obtain the concentration of the predetermined component in the liquid sample such as blood, urine, or the like, and a result of the concentration is displayed on the display unit 118 or the like, or stored in a storage unit (not shown).
  • the sample analysis system 100 is not required to include all the above-described configurations, and a unit for pretreatment can be appropriately added, or some units or some configurations can be deleted.
  • the analysis unit 105 is not limited to biochemical analysis, and may be used for immunoassay.
  • the analysis unit 105 is not required to be one and two or more of the analysis unit 105 may be provided. In this case as well, the analysis unit 105 and the conveying unit 101 are connected to each other by the conveying line 102, and the sample rack 111 is conveyed from the conveying unit 101.
  • Fig. 24 is a diagram schematically illustrating the overall configuration of the sample pretreatment device 150.
  • the sample pretreatment device 150 is a device that executes various pretreatments necessary for the sample analysis. From the left side to the right side in Fig. 24 , the sample pretreatment device 150 includes: a plurality of units including, as basic elements, a plugging unit 152, a sample storage unit 153, an empty holder stacker 154, a sample input unit 155, a centrifugation unit 156, a liquid quantity measuring unit 157, a unplugging unit 158, a child sample container preparation unit 159, a dispensing unit 165, and a transfer unit 161; a conveying device 170; and a control unit PC163 that controls operations of the plurality of units.
  • a plugging unit 152 includes: a plurality of units including, as basic elements, a plugging unit 152, a sample storage unit 153, an empty holder stacker 154, a sample input unit 155, a centrifugation unit 156, a liquid quantity measuring unit 157, a unplugging
  • the sample analysis system 100 for performing qualitative and quantitative analysis of the component of the sample is connected.
  • the sample input unit 155 is a unit for inputting the sample container 122 storing the sample into the sample pretreatment device 150.
  • the centrifugation unit 156 is a unit for centrifuging the inputted sample container 122.
  • the liquid quantity measuring unit 157 is a unit for measuring a liquid quantity of the sample stored in the sample container 122.
  • the unplugging unit 158 is a unit for unplugging a stopper of the inputted sample container 122.
  • the child sample container preparation unit 159 is a unit that performs a necessary preparation for dispensing the sample stored in the inputted sample container 122 into the next dispensing unit 165.
  • the dispensing unit 165 is a unit for performing subdivision of the centrifuged sample for analyzing the centrifuged sample by the sample analysis system or the like, and for attaching a barcode or the like to the subdivided sample container 122 and child sample container 122.
  • the transfer unit 161 is a unit for classifying the dispensed child sample container 122, and for performing preparation for transfer to the sample analysis system.
  • the plugging unit 152 is a unit for plugging the stopper on the sample container 122 and the child sample container 122.
  • the sample storage unit 153 is a unit for storing the closed sample container 122.
  • the conveying device 170 is a mechanism for conveying the sample holder and the sample rack that store the sample container 122 between the respective units and between the sample pretreatment device 150 and the sample analysis system 100, and uses any one of the conveying devices 1 according to the first and sixth embodiments.
  • the sample pretreatment device 150 is not required to include all the above-described configurations, and a unit can be further added, or some units or some configurations can be deleted.
  • the sample analysis system of the embodiment may be the sample analysis system 200 including the sample pretreatment device 150 and the sample analysis system 100 as shown in Fig. 24 .
  • the sample container 122 can be conveyed not only within the respective systems but also between the systems by connection with the conveying device 1 or the like of the first to sixth embodiments.
  • the sample analysis systems 100 and 200 and the sample pretreatment device 150 according to the seventh embodiment of the present invention include the conveying device of the first embodiment or the like, such that the sample container 122 can be conveyed to the conveying destination with high efficiency, and the time until the analysis result can be obtained can be shortened. Conveying troubles can be reduced, and a burden on an inspection technician can be reduced.
  • the seventh embodiment shows a case in which the sample rack 111 that stores five sample containers 122 where the sample is stored is conveyed as a conveying target.
  • a sample holder that holds one sample container 122 can be conveyed as the conveying target.
  • the present invention is not limited to the embodiments, and includes various modifications.
  • the embodiments are described in detail in order to describe the present invention in an easy-to-understand manner, and are not necessarily limited to those including all the described configurations.
  • the conveyance object is not limited to the sample rack or the like, and various objects that are required to be conveyed on a large scale can be a conveying target.

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  • Engineering & Computer Science (AREA)
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  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
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EP20770493.3A 2019-03-08 2020-01-14 Dispositif de transport, système d'analyse d'échantillon et dispositif de prétraitement d'échantillon le comprenant, et procédé de transport d'échantillon à transporter Active EP3905515B1 (fr)

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JP2019042233A JP7300281B2 (ja) 2019-03-08 2019-03-08 搬送装置、およびそれを備えた検体分析システム、検体前処理装置、ならびに被搬送体の搬送方法
PCT/JP2020/000907 WO2020183890A1 (fr) 2019-03-08 2020-01-14 Dispositif de transport, système d'analyse d'échantillon et dispositif de prétraitement d'échantillon le comprenant, et procédé de transport d'échantillon à transporter

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JP7300281B2 (ja) 2023-06-29
WO2020183890A1 (fr) 2020-09-17
US20220144556A1 (en) 2022-05-12
CN113474990A (zh) 2021-10-01
US11851282B2 (en) 2023-12-26
JP2020142913A (ja) 2020-09-10
EP3905515B1 (fr) 2024-03-20

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